ClarenceZSK / E2ES-extended

MAV simulation on Gazebo

E2ES

End-to-End UAV Simulation for Visual SLAM and Navigation

Introduction

This Kit provides an end to end simulation solution for MAV visual SLAM and path planning researches.
In this work, several features are added to the default PX4 Gazebo Simulator:
-A realsense D435 model (based on realsense_gazebo_plugin)
-Modified IRIS MAV model
-Several structured/unstructured simulation world
-Keyborad control support
The work has been verified on Ubuntu 18.04 + ROS melodic environment
We strongly recommend to you to run this simulation with CUDA supported graphic card!

Simulation environment

square_room:

factory:

manual control

1: Take off------|---2: land
Q: rotate left---|---W: forward----|--E: rotate right--|--R: up
A: left----------|---S: backward---|--D: right---------|--F: down

Usage

Install pre-requires:

sudo apt-get install ros-melodic-mavros ros-melodic-mavros-extras ros-melodic-mavros-msgs libncurses5-dev python3-pip libgstreamer1.0-dev python-jinja2 python-pip python-testresources libignition-math2 libgazebo9-dev
pip3 install --user empy toml numpy packaging jinja2
pip install numpy toml empy packaging
sudo apt upgrade libignition-math2
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo bash ./install_geographiclib_datasets.sh

If you fail to upgrade libignition-math2, try apt-get update and upgrade.

Downloadn and install the PX4 (1.11.0)

git clone https://github.com/PX4/PX4-Autopilot.git
cd PX4-Autopilot/
bash ./Tools/setup/ubuntu.sh
git checkout 71db090
git submodule sync --recursive
git submodule update --init --recursive
make px4_sitl_default gazebo

If you got errors, try following steps:

sudo make clean
DONT_RUN=1 make px4_sitl_default gazebo
sudo chmod 777 .gazebo/

add the following lines to bashrc:

source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo

Clone this repository to catkin src folder say: ~/catkin_ws/src

cd ~/catkin_ws/src
git clone https://github.com/HKPolyU-UAV/E2ES.git

Install 3rd Part Library

cd ~/catkin_ws/src/E2ES/3rdPartLib
sudo ./install3rdPartLib.sh

Compile

cd ~/catkin_ws/
catkin_make

By default ROS_WORK_SPACE_PATH is ~/catkin_ws and PX4_Firmware_PATH is ~/PX4-Autopilot
If Not, Edit the path in E2ES/load_world_YOUR_MAP.sh script(Line 1 to 4)

export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:~/catkin_ws/src/e2es/gazebo/YOUR_MAP
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/catkin_ws/src/e2es/gazebo/YOUR_MAP/models
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:~/catkin_ws/devel/lib
cd ~/PX4-Autopilot

to

export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:ROS_WORK_SPACE_PATH/src/e2es/gazebo/YOUR_MAP
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:ROS_WORK_SPACE_PATH/src/e2es/gazebo/YOUR_MAP/models
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:ROS_WORK_SPACE_PATH/devel/lib
cd PX4_Firmware_PATH

Run the simulator

roscd e2es
./load_world_XXXX.sh

Using keyboard to control the MAV in simulator

roslaunch e2es UAV.launch
roslaunch e2es keyboard_ctr.launch

You can also use the 2D-Nav-Goal in RVIZ to publish your destination.

Testing your algorithms

Example:

VO (https://github.com/arclab-hku/SOPVO) + tracking (https://github.com/arclab-hku/ICRA2021tracking):

![demo Video]

Acknowledgement

This work are based on PX4 Projcet and realsense_gazebo_plugin

Maintainer

Shengyang Chen(Dept.ME,PolyU): [e-mail]
Han Chen(Dept.AAE,PolyU):[e-mail] and Ran Duan(Dept.AAE,PolyU):[e-mail].